Minato Shoji
mbed_2018
Dependencies: mbed JY901 TinyGPS AsyncSerial
Revision 0:e4bf955dac58, committed 2019-12-23
- Comitter:
- Minato
- Date:
- Mon Dec 23 07:23:01 2019 +0000
- Commit message:
- mbed_2018
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AsyncSerial.lib Mon Dec 23 07:23:01 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/babylonica/code/AsyncSerial/#278f7f125495
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/JY901.lib Mon Dec 23 07:23:01 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/sgrsn/code/JY901/#b0aecd9a3cc9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TinyGPS.lib Mon Dec 23 07:23:01 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/dROb/code/TinyGPS/#44bee9056857
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Dec 23 07:23:01 2019 +0000
@@ -0,0 +1,190 @@
+#include "mbed.h"
+#include "AsyncSerial.hpp"
+#include "TinyGPS.h"
+#include "JY901.h"
+
+Serial pc(USBTX, USBRX);//CoolTermを用いてパソコン上に表示
+JY901 i2c(p28,p27);// sda, scl
+AsyncSerial Serial1(p9,p10,38400,128); // tx, rx
+AsyncSerial Serial2(p13,p14,9600,256); // tx, rx
+DigitalOut myled(LED1);
+InterruptIn alt(p21);
+InterruptIn rot(p22);
+DigitalIn mid(p23);
+AnalogIn an1(p19);
+AnalogIn an2(p20);
+Ticker flipper;
+Ticker flipper2;
+TinyGPS gps;
+Timer t;
+Timer t2;
+int rot_count_buf=0;
+int send_f1=0;
+int send_f2=0;
+
+#define coef_a -21.05 //ELE
+#define coef_b 22.2 //RUD
+float mid_a=0.5,mid_b=0.5;
+int mid_t=0;
+
+struct DATA{
+ int height;
+ int rot_count;
+ float air_speed;
+ float analog[2];//0=ELE 1=RUD
+ float fmps,falt;
+ unsigned long fix_age;
+ long lat, lon;
+ unsigned long time, date, speed, course;
+ float angle[3];
+ int a,b;
+};
+DATA data;
+
+void ini(){
+ data.height=0;data.rot_count=0;data.air_speed=0;data.analog[0]=0.0;data.analog[1]=0.0;
+ data.time=0;data.date=0;
+ data.lat=0;data.lon=0.0;data.fmps=0.0;data.falt=0.0;data.fix_age=0;
+ data.course=0;
+ data.angle[0]=0.0;data.angle[1]=0.0;data.angle[2]=0.0;
+ send_f1=0;
+ send_f2=0;
+ mid.mode(PullUp);
+}
+float con(float a){
+ if(a>180.0)return a-360.0;
+ else return a;
+}
+
+void read_gyro(){
+ data.angle[0]=con(i2c.getXaxisAngle());
+ data.angle[1]=con(i2c.getYaxisAngle());
+ data.angle[2]=con(i2c.getZaxisAngle());
+}
+void read_analog(){
+ data.analog[0]=an1.read();//ELE
+ data.analog[1]=an2.read();//RUD
+ data.a=(int)((data.analog[0]-mid_a)*coef_a+4.5);
+ data.b=(int)((data.analog[1]-mid_b)*coef_b+4.5);
+ if(data.a>8)data.a=8;
+ if(data.a<0)data.a=0;
+ if(data.b>8)data.b=8;
+ if(data.b<0)data.b=0;
+}
+
+void mid1(){
+ mid_t=t2.read_ms();
+ mid_a=an1.read();
+ mid_b=an2.read();
+}
+
+void alt1() {
+ t.start();
+}
+void alt2() {
+ t.stop();
+ data.height=(int)(t.read_us()/58);
+ t.reset();
+}
+void rot1(){
+ rot_count_buf++;
+}
+
+void rot2(){
+ data.rot_count=rot_count_buf;
+ rot_count_buf=0;
+ send_f1=1;
+}
+
+
+void send(){//disp
+ //def
+ Serial2.printf("%d,%d,%.2f,%d,%d,%.2f,%.2f,%f,%f\r\n",data.height,data.rot_count,data.air_speed,data.a,data.b,data.fmps,data.angle[0],data.analog[0],data.analog[1]);
+
+ //pc.printf("%d,%d,%.2f,%d,%d,%.2f,%.2f,%f,%f\r\n",data.height,data.rot_count,data.air_speed,data.a,data.b,data.fmps,data.angle[0],data.analog[0],data.analog[1]);
+ pc.printf("time=%5ds, height=%4.2fm, rot=%3drpm, speed=%4.2fm/s, ELE=%f, RUD=%f, %d, %d, %d, %d, %d, %.2f, %.2f, %.2f, %.2f, %.2f\r\n"
+ ,t2.read_ms()/1000,data.height/100,data.rot_count,data.air_speed
+ ,data.analog[0],data.analog[1],data.date,data.time
+ ,data.lat,data.lon,data.course,data.fmps,data.falt,data.angle[0],data.angle[1],data.angle[2]);
+ //rudele
+ //Serial2.printf("ELE,RUD,%d,%d,%f,%f\r\n",data.a,data.b,data.analog[0],data.analog[1]);
+
+ //Serial2.printf("%d,%d,%.2f,%.2f\r\n",data.a,data.b,data.analog[0],data.analog[1]);
+ /*Serial2.printf("%d,%d,%d,%.2f,%f,%f,%d,%d,%d,%d,%d,%.2f,%.2f,%.2f,%.2f,%.2f\r\n"
+ ,t2.read_ms(),data.height,data.rot_count,data.air_speed
+ ,data.analog[0],data.analog[1],data.date,data.time
+ ,data.lat,data.lon,data.course,data.fmps,data.falt,data.angle[0],data.angle[1],data.angle[2]);*/
+}
+
+void send2(){//log
+ Serial1.printf("%d,%d,%d,%.2f,%f,%f,%d,%d,%d,%d,%d,%.2f,%.2f,%.2f,%.2f,%.2f\r\n"
+ ,t2.read_ms(),data.height,data.rot_count,data.air_speed
+ ,data.analog[0],data.analog[1],data.date,data.time
+ ,data.lat,data.lon,data.course,data.fmps,data.falt,data.angle[0],data.angle[1],data.angle[2]);
+}
+
+
+void send2_f(){
+ send_f2=1;
+}
+
+
+int main() {
+ char a[10];//バッファ
+ int i=0;//count用
+ int prev_m=0;
+ ini();
+ t.start();
+ t2.start();
+ alt.rise(&alt1);//立ち上がり
+ alt.fall(&alt2);//立ち下がり
+ rot.rise(&rot1);//立ち上がり
+ rot.fall(&rot1);//立ち下がり
+ //mid.fall(&mid1);//立ち上がり
+
+ flipper.attach(&rot2, 0.5);//0.5sごとに回転数更新＆送信
+ i2c.calibrateAll(3000);
+ flipper2.attach(&send2_f, 0.2);//0.2sごとに送信
+ while(1) {
+ while(Serial1.readable()>0){
+ a[i]=Serial1.getc();
+ if(a[i]=='\r'){
+ a[i]=Serial1.getc();//\n
+ a[i]='\0';
+ i=0;
+ data.air_speed=atof(a);
+ }else{
+ i++;
+ }
+ }
+
+ while(Serial2.readable()>0){
+ char c = Serial2.getc();
+ if(gps.encode(c)){
+ gps.get_position(&(data.lat), &(data.lon), &(data.fix_age));// retrieves +/- lat/long in 100000ths of a degree
+ gps.get_datetime(&(data.date), &(data.time), &(data.fix_age));// time in hhmmsscc
+ data.course = gps.course();// course in 100ths of a degree
+ data.fmps = gps.f_speed_mps(); // speed in m/sec
+ data.falt = gps.f_altitude(); // +/- altitude in meters
+ }
+ }
+ if(send_f1==1){
+ send_f1=0;
+ send();
+ }
+ if(send_f2==1){
+ read_gyro();
+ read_analog();
+ send_f2=0;
+ send2();
+ int a;
+ a=mid;
+ if(a==prev_m && !a && mid_t==0){
+ mid1();
+ Serial1.printf("##%f,%f\r\n",mid_a,mid_b);
+ Serial2.printf("##%f,%f\r\n",mid_a,mid_b);
+ }
+ prev_m=a;
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Dec 23 07:23:01 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a7c7b631e539 \ No newline at end of file